The nonlinear dynamics of a generalized, piecewise linear oscillator with perfectly plastic impacts is investigated. The generic mappings based on the discontinuous boundaries are constructed. Furthermore, the mapping structures are developed for the analytical prediction of periodic motions of such a system. The stability and bifurcation conditions for specified periodic motions are obtained. The periodic motions and grazing motion are demonstrated. This model is applicable to prediction of periodic motion in nonlinear dynamics of gear transmission systems.